Deployment mechanism, communication and operation for a host-parasite drone system

ABSTRACT

A carrier aerial vehicle system includes a propulsion component configured to enable the carrier aerial vehicle system to be in flight. The carrier aerial vehicle system further includes a retention mechanism configured to allow a plurality of deployable parasite aerial vehicles to be coupled to the retention mechanism and released from the retention mechanism while the carrier aerial vehicle system is in flight. The carrier aerial vehicle system further includes a communication component configured to enable the carrier aerial vehicle system to wireless communicate with the plurality of parasite deployable aerial vehicles. The carrier aerial vehicle system further includes a processor configured to determine a position on the retention mechanism for each deployable parasite aerial vehicle of the plurality of deployable parasite aerial vehicles.

CROSS REFERENCE TO OTHER APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/228,244, entitled DEPLOYMENT MECHANISM, COMMUNICATION AND OPERATIONFOR A HOST-PARASITE DRONE SYSTEM filed Apr. 12, 2021, which claimspriority to U.S. Provisional Patent Application No. 63/010,473, entitledDEPLOYMENT MECHANISM, COMMUNICATION AND OPERATION FOR A HOST-PARASITEDRONE SYSTEM filed Apr. 15, 2020, each of which is incorporated hereinby reference for all purposes.

BACKGROUND OF THE INVENTION

An unmanned aerial vehicle (UAV) may be deployed for reconnaissancepurposes. Battery-powered UAVs (e.g., drones) are typically quieter thanother aircraft, such as helicopters, airplanes, etc., which may generateloud noise from their propulsion system(s) (e.g., jet engine, internalcombustion engine, propellers or rotors, etc.). This may allow the UAVto fly to a region of interest without being detected.

A UAV may be equipped with one or more imaging devices (e.g., camera).UAVs often use point-to-point radios to communicate with an operator anda ground control station. The UAV may communicate data obtained via theone or more imaging devices to the ground control station using apoint-to-point radio. Point-to-point radios depend on line of sightbetween the UAV's radio and a ground radio at the ground control stationto function optimally. However, terrain (e.g., mountains), vegetation,and buildings often obstruct the radio signal, leading to reducedcommunications range. UAVs are also typically battery-powered, whichlimits the flight time due to limitations in battery energy density.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIG. 1A is a diagram illustrating a side view of a system for deployingparasite aerial vehicles in accordance with some embodiments.

FIG. 1B is a diagram illustrating a front view of a system for deployingparasite aerial vehicles in accordance with some embodiments.

FIG. 2 is a diagram illustrating an embodiment of a deployed parasiteaerial vehicle.

FIG. 3A is a diagram illustrating a side view of an embodiment of theretention mechanism.

FIG. 3B illustrates a top-down view of a parasite aerial vehicle inaccordance with some embodiments.

FIG. 4A is a diagram illustrating a portion of a parasite aerial vehiclein accordance with some embodiments.

FIG. 4B is a diagram illustrating a view of a parasite aerial vehicle inaccordance with some embodiments.

FIG. 5 is a diagram illustrating a retention mechanism in accordancewith some embodiments.

FIG. 6 is a diagram illustrating a retention mechanism in accordancewith some embodiments.

FIG. 7 illustrates a top-down view of a parasite aerial vehicle inaccordance with some embodiments.

FIG. 8 is a diagram illustrating a communication system in accordancewith some embodiments.

FIG. 9 is a flow diagram illustrating an embodiment of a process forregistering a parasite aerial vehicle.

FIG. 10 is a flow diagram illustrating an embodiment of a process forregistering a parasite aerial vehicle.

FIG. 11 is a flow diagram illustrating an embodiment of a process fordeploying one or more parasite aerial vehicles.

FIG. 12 is a flow diagram illustrating an embodiment of a process fordeploying a parasite aerial vehicle.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

Using the techniques described herein, line of sight communicationissues and flight time limitations associated with a UAV are reduced byattaching the UAV (referred to herein as a “parasite aerial vehicle”) toa host aircraft (also referred to as a “carrier aerial vehicle system”)that has longer endurance and flies at an altitude high enough such thatline of sight is maintained with a ground control system. The hostaircraft may fly to a deployment location where it will not be detectedat a region of interest. One or more parasite aerial vehicles may detachfrom the host aircraft and fly closer to the region of interest withoutbeing detected. Control, data, and video links between the one or moreparasite aerial vehicles are relayed to the ground control stationthrough the host aircraft, which has line of sight with both the one ormore parasite aerial vehicles and the ground control station.

The host aircraft includes a retention mechanism that is configured toallow one or more parasite aerial vehicles to be coupled to theretention mechanism and released from the retention mechanism while thehost aircraft is in flight. Each of the parasite aerial vehicles has anopening that allows the retention mechanism to pass through. A pluralityof parasite aerial vehicles may be vertically stacked, such that theretention mechanism passes through each of the plurality of parasiteaerial vehicles. Each of the parasite aerial vehicles includes anattachment component. The attachment component includes a release pin.The retention mechanism includes one or more attachment openings. Thenumber of attachment openings corresponds to the number of parasiteaerial vehicles to which the retention mechanism is capable of beingcoupled. A parasite aerial vehicle is coupled to the retention mechanismby inserting the release pin into one of the attachment openings of theretention mechanism.

The host aircraft may carry a plurality of parasite aerial vehicles to adeployment location near a region of interest. The host aircraft maysend to one of the parasite aerial vehicles, a command to release arelease pin from an attachment opening. Gravity causes the parasiteaerial vehicle to slide off of the retention mechanism and fall towardsthe ground. After being released for a period of time, the parasiteaerial vehicle can engage its propulsors and then fly to the region ofinterest. However, unless the host aircraft determines the position onthe retention mechanism for each parasite aerial vehicle, the hostaircraft is unable to determine an order in which the plurality ofparasite aerial vehicles are to be deployed.

Prior to takeoff, the host aircraft may register a placement location ofeach of the parasite aerial vehicles with respect to the retentionmechanism. The retention mechanism includes a plurality of placementlocations at which a parasite aerial vehicle can couple. Each of theplurality of placement locations is associated with a correspondingproximity tag. Each of the proximity tags is associated with a proximityidentifier. Each of the plurality of parasite aerial vehicles includes acorresponding proximity sensor, a corresponding microcontroller, and acorresponding unit. A proximity sensor is configured to scan for thepresence of a proximity tag. When a proximity tag is detected and read,the proximity sensor provides the proximity identifier to themicrocontroller. When the release pin is inserted into the attachmentopening, the proximity identifier is transmitted to the host aircraftvia the communications unit associated with the parasite aerial vehicle.In response to receiving the proximity identifier, the host aircraft isconfigured to update a data structure that associates parasite aerialvehicles with the corresponding placement location on the retentionmechanism. After a plurality of parasite aerial vehicles send theircorresponding proximity identifiers to the host aircraft, the hostaircraft is able to determine the order in which the plurality ofparasite aerial vehicles are to be deployed. This ensures that theplurality of parasite aerial vehicles are deployed in the correct orderwithout damaging any of the other parasite aerial vehicles.

FIG. 1A is a diagram illustrating a side view 100 of a system fordeploying parasite aerial vehicles in accordance with some embodiments.In the example shown, the system includes a host aircraft 102 coupled toparasite aerial vehicles 112, 122, 132 via retention mechanism 104.Although FIG. 1A illustrates host aircraft 102 being coupled to threeparasite aerial vehicles, host aircraft 102 may be coupled to 1:nparasite aerial vehicles, where n corresponds to a maximum number ofplacement locations associated with a retention mechanism. In someembodiments, the maximum number of placement locations associated with aretention mechanism corresponds to the maximum number of parasite aerialvehicles that host aircraft 102 is capable of transporting withoutreducing a performance of host aircraft 102.

In some embodiments, host aircraft 102 includes any type of aircraftincluding but not limited to a fixed-wing aircraft or rotary-wingaircraft, whether manned or unmanned. Host aircraft 102 includespropulsors 106 a, 106 b. In some embodiments, a propulsor includes adevice that generates thrust necessary to keep host aircraft 102 aloft.Examples of propulsors include but are not limited to propellersattached to gasoline motors, electric motors, jet engines, or rocketengines.

A well-known deficiency of battery powered aircrafts is their shortflight time. In some embodiments, host aircraft 102 has a series-hybridpower source, including both a battery and an electric generator (e.g.,driven by a prime mover (genset)) used to power the aircraft. An exampleof a prime mover is an internal combustion engine or a turbine engine. Aseries-hybrid aircraft is capable of much longer flight times becausechemical fuels (e.g., gasoline, diesel, hydrogen, natural gas, etc.)have much higher energy density than current battery technologies. Insome embodiments, a flight controller of host aircraft 102 regulatespower generation and power utilization to eliminate reliance of batterypower when using a generator with a throttle delay. The flightcontroller includes an electronic speed control (ESC) throttle inputfrom which an anticipated electrical power demand is determined. Forexample, based on control inputs from a user and detected sensor data,the throttle settings to be applied to electric motors to achievedesired propeller speeds are determined and the associated anticipatedpower demand is determined. Examples of the anticipated electrical powerdemand include predicted electrical power demand, estimated electricalpower demand and any other calculated electrical power demand. Invarious embodiments, the anticipated electrical power demand is at leastin part determined by the flight controller and/or another processorincluded on the aircraft vehicle. The controller determines a throttleinput (e.g., engine throttle input) for a generator in order to satisfythe anticipated electrical demand. For example, engine throttle requiredto produce the anticipated electrical demand is determined and applied.The flight controller includes an electronic speed control throttleoutput providing a delayed electronic speed control throttle signal. Forexample, rather than allowing the electrical motor throttle toinstantaneously change, the electrical motor throttle is allowed tochange in a manner that matches the power output delay of the generator.By delaying the change in electronic speed control throttle, theincrease in power demand from the change in the electronic speed controlthrottle can be matched to the delay in power increase provided by thegenerator in response to the generator throttle input.

Host aircraft 102 includes a processor and a communications unit. Theprocessor is configured to send one or more commands to parasite aerialvehicles 112, 122, 132 via the communications unit (e.g., radio). Theprocessor is configured to receive data from parasite aerial vehicles112, 122, 132 via the communications unit.

In some embodiments, parasite aerial vehicles 112, 122, 132 include anyunmanned aircraft including but not limited to a fixed-wing aircraft ora rotary-wing aircraft.

FIG. 1B is a diagram illustrating a front view 150 of a system fordeploying parasite aerial vehicles in accordance with some embodiments.Parasite aerial vehicles 112, 122, 132 are coupled to host aircraft 102via retention mechanism 104.

When coupled to host aircraft 102 via retention mechanism 104, thepropulsors of parasite aerial vehicles 112, 122, 132 (i.e., propulsors116 a, 116 b, 126 a, 126 b, 136 a, 136 b) are in a low-power ordisengaged (motionless) state so that the parasite aerial vehicles 112,122, 132 can conserve energy during transport. Propulsors 116 a, 116 b,126 a, 126 b, 136 a, 136 b may be propellers attached to electricmotors.

In the low-power or disengaged state, the parasite aerial vehicles 112,122, 132 are capable of communicating with host aircraft 102 via theircommunications units (e.g., radio), but are communicating using areduced amount of radio power (e.g., less than the amount of radio powerused during normal operation of a parasite aerial vehicle). In thelow-power or disengaged state, the parasite aerial vehicles 112, 122,132 are capable of transmitting data to host aircraft 102 using a lowdata rate. For example, a camera data rate may be reduced or turned off.The parasite aerial vehicles 112, 122, 132 may be placed in a dormantstate when being transported to the destination location.

Parasite aerial vehicles 112, 122, 132 may be battery powered. Whentheir propulsors are engaged, parasite aerial vehicles 112, 122, 132 arequieter than when the propulsors 106 a, 106 b of host aircraft 102 areengaged. This allows parasite aerial vehicles 112, 122, 132 to fly closeto a region of interest than host aircraft 102 could without beingdetected. Parasite aerial vehicles 112, 122, 132 may include one or moreimaging devices that enable them to obtain higher resolution video andimagery of the regions of interest without detection. Parasite aerialvehicles 112, 122, 132 are capable of flying into enclosed areas (e.g.,buildings) or narrow areas (e.g., between trees, between buildings),whereas host aircraft 102 would not fit.

FIG. 2 is a diagram illustrating an embodiment of a deployed parasiteaerial vehicle. Host aircraft 102 stores a data structure that indicatesan order in which the parasite aerial vehicles 112, 122, 132 areattached to retention mechanism 104. After reaching a deploymentlocation near a region of interest, host aircraft 102 may sendcorresponding commands to the parasite aerial vehicles 112, 122, 132 todetach from host aircraft 102 based on the order. In the example shown,host aircraft sent to parasite aerial vehicle 132 a command to detachfrom host aircraft 102.

In response to receiving the command, parasite aerial vehicle 132detaches from retention mechanism 104. After a delay, the propulsors ofparasite aerial vehicle 132 are engaged or removed from a low-powerstate to a high-power state, allowing parasite aerial vehicle 132 togain separation from host aircraft 102 and then fly under its own power.In some embodiments, the delay is a fixed amount of time. The amount ofdelay may prevent the parasite aerial vehicle 132 from accidentallycolliding with other parasite aerial vehicles that are to be deployed.The amount of delay may also prevent the parasite aerial vehicle 132from accidentally crashing due to the inability of parasite aerialvehicle 132 to overcome the acceleration forces from gravity.

In some embodiments, the delay is variable and based one or morefactors, such as a current altitude of the host aircraft, the number ofother parasite aerial vehicles attached to host aircraft 102 viaretention mechanism, current environmental conditions (e.g., wind, snow,rain, temperature, etc.).

In some embodiments, host aircraft 102 transmits to a parasite aerialvehicle via a communications unit a command to engage its propulsors. Insome embodiments, a microcontroller of a parasite aerial vehicle issuesan engage command to a motor associated with the propulsors.

Host aircraft 102 may wait a particular amount of time before issuingsubsequent release commands to parasite aerial vehicles 112, 122. Thismay prevent a collision between the deployed parasite aerial vehicle(s),such as parasite aerial vehicle 132, by providing sufficient amount oftime for the deployed parasite aerial vehicle(s) to distance themselvesfrom host aircraft 102 and the other parasite aerial vehicle(s).

FIG. 3A is a diagram illustrating a side view of an embodiment of theretention mechanism. In the example shown, retention mechanism 104 isinserted into corresponding collars 302 a, 302 b, 302 c of parasiteaerial vehicles 112, 122, 132. A parasite aerial vehicle includes arelease button (shown as release button 352 in FIG. 3B). When pressed, arelease pin is opened allowing the parasite aerial vehicle to move upand down retention mechanism 104. An operator may orient and move theparasite aerial vehicle at the highest open attachment point onretention mechanism 104. When release button 352 is released, therelease pin is inserted into an attachment opening on retentionmechanism 104.

Retention mechanism 104 is configured to attach to a host aircraft. Insome embodiments, retention mechanism 104 allows the following features:(1) mechanically simple, reliable and easy to build; (2) occupies asmall amount of space on the host; (3) reduces weight and aerodynamicdrag; (4) does not interfere with the host aircraft's propulsors; (5)reduces setup time by allowing the operator to identify and controlindividual parasite drones that are identical in all respects excepttheir position; (6) increases transportability; and (7) reduces radiointerference and frees up network resources.

In some embodiments, retention mechanism 104 (e.g., a rod) includes anylong protrusion, which can be inserted into an opening or partialopening on a parasite aerial vehicle, along which the parasite aerialvehicle can travel freely. Retention mechanism 104 does not need to berigid or straight, and it may consist of a chain of smaller such rodslinked together. Other embodiments and shapes of retention mechanism 104may exist.

Retention mechanism 104 may be detached from a host aircraft for each oftransport of both the host aircraft and the parasite aerial vehicles.Retention mechanism 104 may come in different sizes and shapes. Thisallows host aircraft 102 to transport different types and/or numbers ofparasite aerial vehicles. In some embodiments, a plurality of parasiteaerial vehicles are preloaded onto a plurality of retention mechanisms,enabling host aircraft 102 to quickly attach and transport the pluralityof parasite aerial vehicles to a destination location.

An embodiment of a parasite aerial vehicle has multiple onboardcomponents, including a radio, radio antennas, a global navigationsatellite system (GNSS) antenna, cameras, motors and propellers. Thesecomponents may have heights that cannot be reduced and consequentlycontribute to the vertical profile of the parasite aerial vehicle stack.To reduce the vertical profile, a set of holes, hollow areas orrecessions (e.g., hollow area 702 and recession 704 of FIG. 7 ) may bedesigned into the parasite aerial vehicle airframe to fit around thecomponents of the parasites aerial vehicles above and below it when theparasite aerial vehicles are stacked.

FIG. 4A is a diagram illustrating a portion of a parasite aerial vehiclein accordance with some embodiments. In the example shown, parasiteaerial vehicle 400 includes a collar 402, a proximity sensor 404, anelectronics and mechanical components housing 406, a release pin 408,and a release button 410. Parasite aerial vehicle 400 is coupled toretention mechanism 104 via an attachment opening 412. Release pin 408is inserted into attachment opening 412 on retention mechanism 104,locking parasite aerial vehicle 400 into place. In some embodiments,release pin 408 or “pin” includes any protrusion that can be insertedinto retention mechanism 104 and fixes a parasite aerial vehicle inplace.

Electronics and mechanical components housing 406 includes a pluralityof onboard components, including, but not limited to a microcontroller,a radio, radio antennas, a global navigation satellite system (GNSS)antenna, a radio communications device, and a motive device. The motivedevice may be a servo or stepper motor. To release a parasite aerialvehicle 400, release pin 408 is removed from attachment opening 412allowing the parasite aerial vehicle 400 to fall down retentionmechanism 104. Retention mechanism 104 may include a plurality ofattachment openings. In some embodiments, an attachment opening or“opening” is any opening, notch or partial hole in retention mechanism104 that is used to attach a parasite aerial vehicle to a host aircraft.Each attachment opening is spaced such that multiple parasite aerialvehicles can be fit onto the retention mechanism 104. Parasite aerialvehicle 400 may receive a command to release itself from retentionmechanism 104. The command may be received from a host aircraft, such ashost aircraft 102, via a radio onboard the host aircraft.

Retention mechanism 104 and collar 402 may be keyed to aid alignment ofthe release pin 408 with attachment opening 412. An embodiment of thiskeying includes giving the retention mechanism 104 and collar 402 a flatface 502 as shown in FIG. 5 . Collar 402 provides stability whenattached to retention mechanism 104. The top of the retention mechanism104 may also have an embedded proximity tag which contains a list of allthe proximity identifiers on retention mechanism 104 ordered by positionon retention mechanism 104. This information is read by a proximitysensor on the host aircraft and stored. This information is helpful inallowing the attachment of different retention mechanisms which do nothave the same sets of proximity identifiers.

The rotation of the attachment openings and keying faces about the axisof the retention mechanism may vary along the length of the rod. As seenin FIG. 6 , the attachment openings 604 a, 604 b and keying faces 602 a,602 b are rotated about the axis of the retention mechanism. Thisrotation would aid in fitting multiple parasite aerial vehicles into thesmallest space possible by allowing a parasite aerial vehicle'scomponents to fit into vacant spaces of the parasite aerial vehiclesabove and below it.

FIG. 4B is a diagram illustrating a view of a parasite aerial vehicle inaccordance with some embodiments.

In the example shown, proximity sensor 404 is near proximity tag 410. Inorder to release and control each parasite aerial vehicle that iscoupled to a host aircraft, the placement location on retentionmechanism 104 for each parasite aerial vehicle needs to be identified.

Retention mechanism 104 may include a plurality of proximity tags and aplurality of attachment openings. The plurality of proximity tags may beembedded into retention mechanism 104. Each proximity tag corresponds toone of the attachment openings and is embedded somewhere near it. Asseen in FIG. 4B, proximity tag 410 corresponds to attachment opening412. Each proximity tag contains a pre-programmed identifier (e.g.,proximity identifier) that is at least unique with respect to other tagson the same rod. In some embodiments, a proximity tag includes anyvisual, electronic or electromagnetic device that contains data that canbe read or detected by a proximity sensor. It can be used to identifythe position of a parasite aerial vehicle along the length of aretention mechanism. In some embodiments, a proximity identifierincludes a piece of data or sequence of bytes that is unique to aproximity system and is stored on a proximity tag.

In some embodiments, a Proximity System includes the combined system ofProximity Tags and Proximity Sensors. The Proximity Tags can be eitherall mounted on retention mechanism 104 or on a parasite aerial vehicle.Examples of proximity systems include but are not limited to Near-FieldCommunication (NFC), barcode scanners or Radio Frequency Identification(RFID). All of the proximity tags may be mounted on the parasite aerialvehicle or on the retention mechanism, and each parasite aerial vehiclemay carry either a proximity sensor or a proximity tag, but not both.

A proximity sensor may be mounted on each parasite aerial vehicle. Insome embodiments, a proximity sensor includes a device that reads datafrom or detects proximity tags. The proximity sensor may continuallyscan for the presence of a proximity tag. When a proximity tag isdetected and read, the corresponding proximity identifier is read into amicrocontroller onboard the parasite aerial vehicle. When the releasepin is inserted into the attachment opening, the proximity identifier istransmitted to the host aircraft via a radio of the parasite aerialvehicle so that the host aircraft can detect the position of thatparticular parasite aerial vehicle on the retention mechanism.

In some embodiments, without loss of generality, the proximity sensorsare embedded into the retention mechanism and readable by the hostaircraft, and the proximity tags are mounted onto the parasite aerialvehicles. In some embodiments, a proximity sensor at a location on theretention mechanism reads a proximity identifier associated with aproximity tag and provides the proximity identifier to the hostaircraft. In some embodiments, a microprocessor of the parasite aerialvehicle accesses its proximity identifier associated with the proximitytag and sends, via a radio, the proximity identifier to the hostaircraft. In response, the host aircraft is configured to update a datastructure, which associates the proximity sensor with the proximitysensor's location on the retention mechanism, the IP addresses of theparasite aerial vehicle, and the proximity identifier of the parasiteaerial vehicle.

FIG. 8 is a diagram illustrating a communication system in accordancewith some embodiments. In the example shown, a first parasite aerialvehicle, a second parasite aerial vehicle, and a third parasite aerialvehicle are configured to use corresponding communication components801, 802, 803 to communicate with a host aircraft via communicationcomponent 811. Each parasite aerial vehicle and the host aircraft may beequipped with an internet protocol (IP) radio that are configured to beon the same network, such as by setting all radios' network identifiersto be equal and/or to use the same subnet mask. Each radio allows theaircrafts, whether parasite aerial vehicle or host aircraft, and theircommunication components to transmit to and receive data from any othernode (e.g., another parasite aerial vehicle or the host aircraft) on thenetwork. Examples of data include video, telemetry, authenticationmessages and commands.

The host aircraft may use one radio to communicate with both theparasite aerial vehicles and the ground control station. It may also usetwo radios separate radios connected (with a network switch, forexample) for communicating with both the parasite aerial vehicles andthe ground control station, respectively. In the example shown, the hostaircraft includes a first set of communication components 811 thatincludes a first radio and a second set of communication components thatincludes a second radio. The host aircraft is configured to use thefirst set of communication components 811 to communicate with the first,second, and third parasite aerial vehicles. The host aircraft isconfigured to use the second set of communication components 812 tocommunicate with the communication components 821 located at a groundcontrol station. The host aircraft may be configured to use a firstfrequency (e.g., 2.4 GHz) to communicate with the parasite aerialvehicles and a second frequency (e.g., 4.4 GHz) to communicate with theground control station in order to prevent interference.

Each radio and any network components (e.g., cameras and computers)connected to the radio must have a unique identifier and an IP address,in order to transmit and receive data on the network. A Dynamic HostConfiguration Protocol (DHCP) server is run on the host aircraft thatassigns IP addresses to the parasite aerial vehicles' radios and networkcomponents. The IP addresses of the host aircraft's and the groundcontrol station's radios and components may be set to be static (i.e.,not assigned by the DHCP server).

Each parasite aerial vehicle's network components may authenticate withthe host aircraft and identify themselves as part of the parasite. Afterauthentication, the parasite aerial vehicles may transmit data (e.g.,video and telemetry) to and receive commands from the host aircraftand/or from the ground control station. If the data is transmitted to orfrom the ground control station, the data is routed to the parasiteaerial vehicle's via the host aircraft's radios.

For each attached parasite aerial vehicle, a message or set of messages,associating at least some of the parasite aerial vehicle's radio andnetwork components IP addresses with the proximity tag ID read by theparasite aerial vehicle's proximity sensor, may be generated by theparasite aerial vehicle. This information is sent to both the hostaircraft and to the ground control station. The information can be alsostored on the host aircraft and ground control station for selectivelycommunicating with particular parasite aerial vehicles.

Parasite aerial vehicles may have network components (e.g., cameras)that send data at high rates. That data might be unutilized by the hostaircraft or the ground control station when the parasite aerial vehicleis in the attached state. To prevent these network components fromsending data unnecessarily, the attached parasite aerial vehicle'scomponents are commanded to reduce data rates or shut off completely.Examples include shutting off the parasite aerial vehicle's videostreams, reducing video frame rate, or increasing the compression of thevideo streams. These components can be commanded to return data rates tonormal when released from the host aircraft.

When the parasite aerial vehicle is attached to the host aircraft, theGNSS signals used to estimate global position may be attenuated due tonot having a clear view of the sky. To obtain a more accurate parasiteaerial vehicle position estimate, prior to release, GNSS data from thehost aircraft may be transmitted to the parasite aerial vehicles overradio. Upon release, the GNSS data coming from the host aircraft can beignored, and instead, the parasite aerial vehicle's autopilot may useits own onboard GNSS data from its own GNSS receiver/antenna.

Operating at high power, the radio onboard the attached parasite aerialvehicle may saturate the radios of the nearby attached parasite aerialvehicles, leading to possible radio damage or to faulty radiotransmissions. This situation can be prevented in either or both of thefollowing two ways: (1) when a parasite aerial vehicle is in theattached state, the transmit power of its onboard radio is reduced,having the added advantage of conserving the parasite aerial vehicles'battery power during transit; (2) the radio signals coming from or goingto the antennas are switched through signal attenuators if the parasiteaerial vehicle is attached.

FIG. 9 is a flow diagram illustrating an embodiment of a process forregistering a parasite aerial vehicle. In the example shown, process 900may be implemented by a parasite aerial vehicle, such as parasite aerialvehicles 112, 122, 132.

At 902, a proximity tag is detected and read. A parasite aerial vehiclemay include a proximity sensor. The proximity sensor includes a devicethat reads data from or detects proximity tags. A host aircraft iscoupled to a retention mechanism that includes one or more embeddedproximity tags that are associated with a corresponding placementlocation on the retention mechanism. The parasite aerial vehicleincludes an opening that enables it to move up and down the retentionmechanism. The parasite aerial vehicle may be positioned at one of theplacement locations on the retention mechanism.

At 904, the parasite aerial vehicle is attached to a retention mechanismassociated with a host aircraft. A proximity sensor is configured toscan for the presence of a proximity tag. When a proximity tag isdetected, the proximity sensor provides the proximity identifier to themicrocontroller. In response to receiving the proximity identifier, themicrocontroller is configured to send to a motive device of the parasiteaerial vehicle a command to insert a release pin into an attachmentopening associated with the retention mechanism.

In some embodiments, step 904 is performed before step 902.

At 906, a proximity identifier is sent to the host aircraft. Theparasite aerial vehicle uses a radio to communicate the proximityidentifier to the host aircraft. After the parasite aerial vehicle isregistered with the host aircraft, the parasite aerial vehicle mayswitch from a high power state to a low power state to conserve batterypower. In some embodiments, the radio of the parasite aerial vehicle isoperating in a reduced radio power state when the parasite aerialvehicle is in the low power state. In some embodiments, a data rateassociated with the parasite aerial vehicle is operating in a reduceddata rate state when the parasite aerial vehicle is in the low powerstate. For example, a camera data rate for the parasite aerial vehicleis reduced or turned off. The parasite aerial vehicle may be put into adormant mode.

In some embodiments, a parasite aerial vehicle is configured to switchfrom a low power state to a high power state immediately prior to orafter being deployed. In some embodiments, the host aircraft performs asystem check (e.g., camera check, radio check, etc.) on the parasiteaerial vehicle prior to launch. In such a scenario, the parasite aerialvehicle may be in a high power state just prior to launch.

FIG. 10 is a flow diagram illustrating an embodiment of a process forregistering a parasite aerial vehicle. In the example shown, process1000 may be implemented by an aircraft, such as host aircraft 102.

At 1002, a proximity identifier is received. A host aircraft is coupledto a retention mechanism that includes a plurality of placementlocations. Each placement location is associated with a correspondingproximity tag. Each proximity tag is associated with a correspondingproximity identifier. The proximity identifier is received from aparasite aerial vehicle that is attached to the retention mechanism atone of the placement locations.

At 1004, a placement location on a retention mechanism is determinedbased on the proximity identifier. The retention mechanism may includean embedded proximity tag which contains a list of all of the proximityidentifiers on the retention mechanism ordered by position on theretention mechanism. The host aircraft may compare the receivedproximity identifier with the list to determine the placement location.

At 1006, a data structure is updated. The host aircraft stores a datastructure that associates parasite aerial vehicles with thecorresponding placement location on the retention mechanism. The datastructure may include fields, such as a location on the retentionmechanism, an IP address associated with a parasite aerial vehicle,and/or a proximity tag of the location on the retention mechanism. Forexample, the data structure may have the following form:

IP Location on Proximity Address Retention Mechanism Identifier192.168.0.1 1 e38f8g0 . . . 2 . . . . . . . . . . . .

When the host aircraft has reached a deployment location and is ready todeploy one or more parasite aerial vehicles, the host aircraft mayinspect the data structure to determine the order in which the one ormore parasite aerial vehicles are to be deployed. This may prevent aparasite aerial vehicle from being accidentally deployed out of orderand damaging other parasite aerial vehicles attached to the retentionmechanism.

FIG. 11 is a flow diagram illustrating an embodiment of a process fordeploying one or more parasite aerial vehicles. In the example shown,process 1100 may be implemented by an aircraft, such as host aircraft102.

At 1102, the host aircraft arrives at a deployment location. Thedeployment location may correspond to a location that is near a regionof interest, but the host aircraft is unable to be detected at thedeployment location.

At 1104, a command to detach from the host aircraft is sent to one ormore parasite aerial vehicles based on a determined order of the one ormore parasite aerial vehicles. The one or more parasite aerial vehiclesare attached to a retention mechanism that is coupled to the hostaircraft. The determined order for the one or more parasite aerialvehicles is a bottom-up order. In response to receiving the command, amotive device of the parasite aerial vehicle is configured to remove arelease pin from an attachment opening of the retention mechanism.Subsequently, gravity causes the parasite aerial vehicle to slide downthe retention mechanism.

FIG. 12 is a flow diagram illustrating an embodiment of a process fordeploying a parasite aerial vehicle. In the example shown, process 1200may be implemented by a parasite aerial vehicle, such as parasite aerialvehicles 112, 122, 132.

At 1202, a command to detach from the host aircraft is received. At1204, a parasite aerial vehicle is detached from the host aircraft. Inresponse to receiving the command, a motive device of the parasiteaerial vehicle is configured to remove a release pin from an attachmentopening of the retention mechanism.

At 1206, the propulsors are engaged. After a delay, the propulsors ofthe parasite aerial vehicle are engaged, allowing the parasite aerialvehicle to gain separation from host aircraft and then fly under its ownpower. In some embodiments, the delay is a fixed amount of time. Theamount of delay may prevent the parasite aerial vehicle fromaccidentally colliding with other parasite aerial vehicles that are tobe deployed. The amount of delay may also prevent the parasite aerialvehicle 132 from accidentally crashing due to the inability of parasiteaerial vehicle to overcome the acceleration forces from gravity.

In some embodiments, the delay is variable and based one or morefactors, such as a current altitude of the host aircraft, the number ofother parasite aerial vehicles attached to the host aircraft via aretention mechanism, current environmental conditions (e.g., wind, snow,rain, temperature, etc.), etc.

At 1208, the parasite aerial vehicle flies to a region of interest. Theregion of interest may be a GPS coordinate, a particular location, anarea having defined boundaries, etc. In some embodiments, the parasiteaerial vehicle autonomously flies to the region of interest. In someembodiments, the parasite aerial vehicle is remotely controlled from aground control station via the host aircraft.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. (canceled)
 2. A method, comprising: receiving ata carrier aerial vehicle system a plurality of proximity identifiersassociated with a plurality of proximity tags included in a retentionmechanism; determining a corresponding placement location for aplurality of parasite aerial vehicles on the retention mechanism basedon the plurality of proximity identifiers, wherein the retentionmechanism is inserted through a portion of the plurality of parasiteaerial vehicles; updating a data structure that indicates correspondingplacement locations for the plurality of parasite aerial vehicles on theretention mechanism; determining an order to deploy the plurality ofparasite aerial vehicles based on the data structure; and deploying theplurality of parasite aerial vehicles in the determined order. 3.(canceled)
 4. The method of claim 2, wherein each of the plurality oftags are associated with the corresponding placement location for theplurality of parasite aerial vehicles on the retention mechanism.
 5. Themethod of claim 2, wherein each of the plurality of tags are associatedwith a corresponding pre-programmed identifier.
 6. The method of claim2, wherein the retention mechanism includes an embedded proximity tagthat indicates all of the proximity identifiers on the retentionmechanism ordered by position on the retention mechanism.
 7. The methodof claim 6, wherein determining a corresponding placement location for aplurality of parasite aerial vehicles on the retention mechanismincludes comparing a received proximity identifier with the proximityidentifiers indicated by the embedded proximity tag.
 8. The method ofclaim 2, wherein the data structure associates an internet protocoladdress associated with one of the parasite aerial vehicles with thecorresponding placement location and a corresponding proximityidentifier.
 9. The method of claim 2, wherein the plurality of parasiteaerial vehicles are deployed in response to the carrier aerial vehiclesystem arriving at a deployment location.
 10. The method of claim 2,wherein deploying the plurality of parasite aerial vehicles in thedetermined order includes providing to each of the plurality of parasiteaerial vehicles a command to detach from the carrier aerial vehiclesystem based on the determined order.
 11. The method of claim 10,wherein in response to receiving the command a parasite aerial vehicledetaches from the retention mechanism.
 12. The method of claim 2,wherein the determined order is a bottom-up order.
 13. The method ofclaim 2, wherein the carrier aerial vehicle system communicates with aground control station via a first frequency and communicates with theplurality of parasite aerial vehicles via a second frequency.
 14. Themethod of claim 2, further comprising relaying data received from theplurality of parasite aerial vehicles to a ground control station. 15.The method of claim 2, further comprising relaying data received from aground control station to the plurality of parasite aerial vehicles. 16.The method of claim 2, further comprising authenticating each of theplurality of parasite aerial vehicles.
 17. The method of claim 2,wherein the retention mechanism is detachable from the carrier aerialvehicle system.
 18. A system, comprising: a communication interfaceconfigured to receive a plurality of proximity identifiers associatedwith a plurality of proximity tags included in a retention mechanism; aprocessor coupled to the communication interface and configured to:determine a corresponding placement location for a plurality of parasiteaerial vehicles on the retention mechanism based on the plurality ofproximity identifiers, wherein the retention mechanism is insertedthrough a portion of the plurality of parasite aerial vehicles; update adata structure that indicates corresponding placement locations for theplurality of parasite aerial vehicles on the retention mechanism;determine an order to deploy the plurality of parasite aerial vehiclesbased on the data structure; and deploy the plurality of parasite aerialvehicles in the determined order.
 19. The system of claim 18, whereinthe retention mechanism includes an embedded proximity tag thatindicates all of the proximity identifiers on the retention mechanismordered by position on the retention mechanism.
 20. The system of claim19, wherein to determine a corresponding placement location for aplurality of parasite aerial vehicles on the retention mechanism, theprocessor is configured to compare a received proximity identifier withthe proximity identifiers indicated by the embedded proximity tag.
 21. Acomputer program product embodied in a non-transitory computer readablemedium and comprising computer instructions for: receiving a pluralityof proximity identifiers associated with a plurality of proximity tagsincluded in a retention mechanism; determining a corresponding placementlocation for a plurality of parasite aerial vehicles on the retentionmechanism based on the plurality of proximity identifiers, wherein theretention mechanism is inserted through a portion of the plurality ofparasite aerial vehicles; updating a data structure that indicatescorresponding placement locations for the plurality of parasite aerialvehicles on the retention mechanism; determining an order to deploy theplurality of parasite aerial vehicles based on the data structure; anddeploying the plurality of parasite aerial vehicles in the determinedorder.
 22. The system of claim 18, wherein each of the plurality of tagsare associated with the corresponding placement location for theplurality of parasite aerial vehicles on the retention mechanism.